Is there Monte Carlo localization tool in MATLAB for Simulink model?

Below image shows an example of what I want to do. Using Simulink sl_quadrotor model in an environment with a polygon, lets call it tower, I want the quadrotor to fly up along the tower and from its top to the other side of the tower and then down. I added some arrows on top of the image to clarify the desired path.

In my actual environment I will have many towers.

I need to use Monte Carlo localization.

Is there any already available tool in Simulink/MATLAB for that?

Update-1:

This is the sl_quadrotor model, I am only changing the x,y,z to be read from the work space.

There aren't any pre-built particle filter (i.e. Monte-Carlo localization) algorithms , but assuming that you're somewhat familiar with the equations that you need to implement, then that can be done using a reasonably simple modification to the standard Kalman Filter algorithm, and there are plenty of examples of them in Simulink. For instance Kalman Filter Design or A simple Kalman Filter in Simulink.